diff --git a/rclpy/package.xml b/rclpy/package.xml
index 576bfe0da..535ba297e 100644
--- a/rclpy/package.xml
+++ b/rclpy/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>pybind11_vendor</build_depend>
+  <build_depend>python3-dev</build_depend>
   <build_depend>rcpputils</build_depend>
   <build_depend>rcutils</build_depend>
   <build_depend>rmw_implementation_cmake</build_depend>